CN106236510B - A kind of ankle and foot intelligent rehabilitation robot - Google Patents
A kind of ankle and foot intelligent rehabilitation robot Download PDFInfo
- Publication number
- CN106236510B CN106236510B CN201610792818.0A CN201610792818A CN106236510B CN 106236510 B CN106236510 B CN 106236510B CN 201610792818 A CN201610792818 A CN 201610792818A CN 106236510 B CN106236510 B CN 106236510B
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- motor
- foot
- ankle
- bracket
- corner bracket
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
- A61H2201/1215—Rotary drive
Abstract
The invention discloses a kind of ankle and foot intelligent rehabilitation robots, it belongs to rehabilitation appliances technical field, including bottom plate, the bottom plate is equipped with corner bracket, described corner bracket one end and bottom plate are hinged, the corner bracket upper surface is vertically connected with baffle, electric catch bar is hingedly connected on the baffle, the other end and bottom plate of the electricity catch bar are hinged, the electricity catch bar pushes corner bracket to rotate along hinged place, the other end side wall of the corner bracket is equipped with first motor, the other end of the corner bracket is rotatably connected to turnover bracket, the first motor drives turnover bracket rotation, the other end of the turnover bracket is rotatably connected to foot pedal, the side of the turnover bracket is equipped with the second motor, second motor drives foot pedal rotation, the corner bracket pushes by electric catch bar and drives unitary rotation, first motor drives turnover bracket rotation, it realizes Turning up for ankle and foot is simulated with varus, is bent and dorsiflex simulated training using the toe that the second motor drives foot pedal rotation that ankle and foot may be implemented.
Description
Technical field
The present invention relates to rehabilitation appliances technical fields, and in particular to a kind of ankle and foot intelligent rehabilitation robot.
Background technique
With the development of society, Medical Devices have been to be concerned by more and more people, wherein athletic rehabilitation equipment is even more important,
Because people for various reasons caused by after body loses normal ability to act, correctly treatment is necessary, and after treating
Correctly, scientific rehabilitation training campaign is even more and can play a multiplier effect, and the application of rehabilitation equipment can not only be great
Improve the physical condition of patient, moreover it is possible to help patient to carry out rehabilitation exercise instead of healthcare givers, greatly reduce healthcare givers's
Labor burden, therefore athletic rehabilitation equipment is more and more by the attention of industrial circle.
The rehabilitation equipment in present China is in the starting stage, not can solve the rehabilitation problem of patient, existing
Technology in, there is also many problems, such as equipment are excessively huge, occupy a large amount of space, manufacturing process is complicated, maintenance
More difficult, rehabilitation equipment is complicated for operation when in use, and babe in the wood can not quickly operate with, simple equipment then only
It is the simple combination of telescopic cylinder and foot pedal, can not achieve the multi-motion mode of ankle part, be not able to satisfy patient's ankle and foot
Complete rehabilitation exercise training, and the rehabilitation training equipment of ankle and foot can only be operated by artificial control, it cannot basis
Self motion mode of patient provides better rehabilitation training.
A kind of ankle and foot intelligent rehabilitation equipment is now needed, the intelligent rehabilitation training of the ankle and foot of patient is able to achieve, is realized
The mode of ankle and foot multi-motion is simulated, and manufacture craft is simple, it is easy to operate, biggish use space will not be occupied, disease
People can voluntarily be adjusted according to their own needs, the equipment can also automatic identification memory patient motion mode, help patient more
Good carry out rehabilitation training, and in existing technology and this technical application is not present.
Summary of the invention
For the problems of in the prior art, a kind of ankle and foot intelligent rehabilitation robot provided by the invention can be with
It realizes the intelligentized rehabilitation training of patient, reduces the work load of healthcare givers.
To achieve the goals above, The technical solution adopted by the invention is as follows:
A kind of ankle and foot intelligent rehabilitation robot, including bottom plate, the bottom plate are equipped with corner bracket, described corner bracket one end and bottom
Plate is hinged, and the corner bracket upper surface is vertically connected with baffle, and electric catch bar, the electricity catch bar are hingedly connected on the baffle
The other end and bottom plate it is hinged, the electricity catch bar pushes corner bracket to rotate along hinged place, sets along the other end side wall of the corner bracket
There is first motor, the other end of the corner bracket is rotatably connected to turnover bracket, and the first motor drives turnover bracket rotation, institute
The other end for stating turnover bracket is rotatably connected to foot pedal, and the side of the turnover bracket is equipped with the second motor, second electricity
Machine drives foot pedal rotation, and the corner bracket pushes by electric catch bar and drives unitary rotation, and first motor drives turnover bracket rotation
Turn, realize turning up for ankle and foot and simulated with varus, drives foot pedal rotation that ankle and foot may be implemented using the second motor
Toe is bent and dorsiflex simulated training, and first motor, the second motor and electric catch bar move synchronously a variety of rehabilitations that can simulate foot
Training.
Preferably, the first motor, the second motor and electric catch bar are connected with controller, can be effective by controller
Carry out control and remember identification, moved synchronously and simulated training with realizing.
Preferably, the corner bracket and bottom plate hinged place are equipped with articulated shaft, and the corner bracket is bolted to connection hinged
On axis, facilitate the disassembly of corner bracket, in order to which later maintenance is replaced.
Preferably, the first motor is connected with the first driving wheel, and first driving wheel is equipped with synchronous belt, described same
The other end of step band is connected with the first synchronizing wheel, and first synchronizing wheel is connected to turnover bracket, and the first motor drive is turned over
Turn holder pivots.
Preferably, the connection of first synchronizing wheel and turnover bracket is set as Demountable, convenient for later replacement
Maintenance.
Preferably, the second synchronizing wheel that second motor is connected with the second driving wheel and matches with the second driving wheel,
It is equipped with synchronous belt between second driving wheel and the second synchronizing wheel to drive, second synchronizing wheel is equipped with fixed plate, described
Fixed plate is connected with foot pedal, and second motor drives fixed plate rotation to realize the rotation of foot pedal.
Preferably, the fixed plate is set as L-type structure, is conducive to fixed foot pedal.
Preferably, the connection of second synchronizing wheel and fixed plate is set as Demountable, convenient for later replacement and
Maintenance.
Preferably, the foot pedal is equipped with coaming plate, to realize the positioning and protection of foot.
Preferably, the first motor and the second motor are set as the model servo motor of GR63 × 55.
Beneficial effects of the present invention are shown:
The intelligent rehabilitation training for realizing the ankle and foot of patient drives the rotation of corner bracket, the first electricity by electric catch bar
Machine drives turnover bracket to rotate the rotation that foot pedal may be implemented, to train the ankle of patient to turn up and varus, the second motor band
Dynamic foot pedal rotation to train the ankle and foot toe of patient to bend and dorsiflex, and by first motor, the second motor and electric catch bar it
Between synchronous effect, realize the mode of simulation ankle and foot multi-motion, and manufacture craft is simple, easy to operate, will not occupy
Biggish use space, patient can voluntarily be adjusted according to their own needs, which can also be remembered by controller automatic identification
Recall the motion mode of patient, helps patient preferably to carry out rehabilitation training, to alleviate the work load of healthcare givers.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of ankle and foot intelligent rehabilitation of the invention robot；
Fig. 2 is a kind of turnover bracket fragmentary elevational view of ankle and foot intelligent rehabilitation of the invention robot；
Fig. 3 is a kind of corner bracket structural schematic diagram of ankle and foot intelligent rehabilitation of the invention robot；
Fig. 4 is a kind of electric catch bar structural scheme of mechanism of ankle and foot intelligent rehabilitation of the invention robot.
In figure: 1- bottom plate, 2- corner bracket, 3- baffle, 4- electricity catch bar, 5- first motor, the second motor of 6-, 7- overturning branch
Frame, 8- foot pedal, the first driving wheel of 9-, 10- synchronous belt, the first synchronizing wheel of 11-, 12- fixed plate, 13- coaming plate, 14- second drive
Driving wheel, the second synchronizing wheel of 15-.
Specific embodiment
In order to facilitate the understanding of those skilled in the art, the present invention will be further described below with reference to the drawings.
A kind of ankle and foot intelligent rehabilitation robot as shown in Figure 1, including bottom plate 1, the bottom plate 1 are equipped with corner bracket 2, institute
It states 2 one end of corner bracket and bottom plate 1 is hinged, 2 upper surface of corner bracket is vertically connected with baffle 3, is hingedly connected with electricity on the baffle 3
Catch bar 4, the other end and bottom plate 1 of the electricity catch bar 4 are hinged, and the electricity catch bar 4 pushes corner bracket 2 to rotate along hinged place,
The other end side wall of the corner bracket 2 is equipped with first motor 5, and the other end of the corner bracket 2 is rotatably connected to turnover bracket 7, institute
Stating first motor 5 drives turnover bracket 7 to rotate, and the other end of the turnover bracket 7 is rotatably connected to foot pedal 8, the overturning
The side of bracket 7 is equipped with the second motor 6, and second motor 6 drives foot pedal 8 to rotate, and the corner bracket 2 is by electric catch bar 4
It pushes and drives unitary rotation, first motor 5 drives turnover bracket 7 to rotate, and realizes turning up for ankle and foot and simulates with varus, then passes through
The toe that the second motor 6 drives the rotation of foot pedal 8 that ankle and foot may be implemented is crossed to bend and dorsiflex simulated training, the 5, second electricity of first motor
Machine 6 and electric catch bar 4 move synchronously a variety of rehabilitation trainings that can simulate foot.
The first motor 5, the second motor 6 and electric catch bar 4 are connected with controller, by controller can effectively into
Row control and memory identification, the corner bracket 2 are equipped with articulated shaft with 1 hinged place of bottom plate, and the corner bracket 2 is bolted to connection
On articulated shaft, facilitate the disassembly of corner bracket 2, in order to which later maintenance is replaced.
The first motor 5 is connected with the first driving wheel 9, and first driving wheel 9 is equipped with synchronous belt 10, the synchronization
The other end with 10 is connected with the first synchronizing wheel 11, and first synchronizing wheel 11 is connected to turnover bracket 7, the first motor 5
Turnover bracket 7 is driven to rotate, first synchronizing wheel 11 and the connection of turnover bracket 7 are set as Demountable, after being convenient for
Repair and replacement.
The second synchronizing wheel 15 that second motor 6 is connected with the second driving wheel 14 and matches with the second driving wheel 14,
It is equipped with synchronous belt 10 between second driving wheel 14 and the second synchronizing wheel 15 to drive, second synchronizing wheel 15, which is equipped with, fixes
Plate 12, the fixed plate 12 are connected with foot pedal 8, and second motor 6 drives the rotation of fixed plate 12 to realize turning for foot pedal 8
It is dynamic.
The fixed plate 12 is set as L-type structure, is conducive to fixed foot pedal 8, second synchronizing wheel 15 and fixed plate 12
Connection be set as Demountable, convenient for later replacement and maintenance, the foot pedal 8 be equipped with coaming plate 13, to realize foot
The positioning and protection in portion, the first motor 5 and the second motor 6 are set as the model servo motor of GR63 × 55.
The course of work: patient's foot is placed on foot pedal 8, is controlled first motor 5 by controller and is driven turnover bracket 7
Rotation realizes that foot pedal 8 drives the varus and valgus training of patient foot, then drives foot pedal 8 to drive by the second motor 6
Foot realizes that toe bends the training with dorsiflex, and the rotation of corner bracket 2 is realized by electric catch bar 4, realizes the different direction activity of foot
Training, can synchronize and be moved, simulate the various movements of foot, carry out the rehabilitation training of ankle, controller can remember disease
The movement of people foot, to facilitate automatic intelligent control to carry out rehabilitation training.
Above content is only to structure example of the invention and explanation, affiliated those skilled in the art
It makes various modifications or additions to the described embodiments or is substituted in a similar manner, without departing from invention
Structure or beyond the scope defined by this claim, be within the scope of protection of the invention.
Claims (10)
1. a kind of ankle and foot intelligent rehabilitation robot, characterized in that including bottom plate, the bottom plate is equipped with corner bracket, the corner bracket
One end is hinged with bottom plate, and the corner bracket upper surface is vertically connected with baffle, and electric catch bar is hingedly connected on the baffle, described
The other end of electric catch bar and bottom plate are hinged, and the electricity catch bar pushes corner bracket to rotate along hinged place, the other end of the corner bracket
Side wall is equipped with first motor, and the other end of the corner bracket is rotatably connected to turnover bracket, and the first motor drives overturning branch
Frame rotation, the other end of the turnover bracket are rotatably connected to foot pedal, and the side of the turnover bracket is equipped with the second motor, institute
It states the second motor and drives foot pedal rotation.
2. a kind of ankle and foot intelligent rehabilitation robot according to claim 1, characterized in that the first motor, second
Motor and electric catch bar are connected with controller.
3. a kind of ankle and foot intelligent rehabilitation robot according to claim 1, characterized in that the corner bracket and bottom plate are hinged
Place is equipped with articulated shaft, and the corner bracket is bolted to connection on articulated shaft.
4. a kind of ankle and foot intelligent rehabilitation robot according to claim 1, characterized in that the first motor is connected with
First driving wheel, first driving wheel are equipped with synchronous belt, and the other end of the synchronous belt is connected with the first synchronizing wheel, described
First synchronizing wheel is connected to turnover bracket, and the first motor drives turnover bracket rotation.
5. a kind of ankle and foot intelligent rehabilitation robot according to claim 4, characterized in that first synchronizing wheel with turn over
The connection for turning bracket is set as Demountable.
6. a kind of ankle and foot intelligent rehabilitation robot according to claim 1, characterized in that second motor is connected with
Second driving wheel and the second synchronizing wheel matched with the second driving wheel, are equipped between second driving wheel and the second synchronizing wheel
Synchronous belt drives, and second synchronizing wheel is equipped with fixed plate, and the fixed plate is connected with foot pedal, and second motor drives
Fixed plate rotates the rotation to realize foot pedal.
7. a kind of ankle and foot intelligent rehabilitation robot according to claim 6, characterized in that the fixed plate is set as L-type
Structure.
8. a kind of ankle and foot intelligent rehabilitation robot according to claim 6, characterized in that second synchronizing wheel and solid
The connection of fixed board is set as Demountable.
9. a kind of ankle and foot intelligent rehabilitation robot according to claim 1 or 6, characterized in that set on the foot pedal
There is coaming plate.
10. a kind of ankle and foot intelligent rehabilitation robot according to claim 1, characterized in that the first motor and
Two motors are set as servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610792818.0A CN106236510B (en) | 2016-08-31 | 2016-08-31 | A kind of ankle and foot intelligent rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610792818.0A CN106236510B (en) | 2016-08-31 | 2016-08-31 | A kind of ankle and foot intelligent rehabilitation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106236510A CN106236510A (en) | 2016-12-21 |
| CN106236510B true CN106236510B (en) | 2019-01-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610792818.0A Active CN106236510B (en) | 2016-08-31 | 2016-08-31 | A kind of ankle and foot intelligent rehabilitation robot |
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| CN (1) | CN106236510B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107997929B (en) * | 2017-11-29 | 2020-09-01 | 深圳睿瀚医疗科技有限公司 | Portable ankle joint rehabilitation robot based on active intention control |
| CN111265352B (en) * | 2020-03-04 | 2021-10-15 | 河南中医药大学第一附属医院 | Bedside adjustable ankle joint rehabilitation and correction device |
| CN112603757A (en) * | 2020-12-18 | 2021-04-06 | 华侨大学 | Rehabilitation device for treating ankle injury by cam-ejector rod structure |
| CN113558928B (en) * | 2021-06-21 | 2023-12-22 | 浙江工业大学 | Ankle joint motion rehabilitation robot |
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| CN101596139A (en) * | 2009-06-29 | 2009-12-09 | 浙江大学 | Assistant movement exoskeleton of three-degree of freedom ankle joint |
| CN102028607A (en) * | 2011-01-01 | 2011-04-27 | 燕山大学 | Ankle joint device of lower limb rehabilitation training robot |
| CN104398365A (en) * | 2014-11-21 | 2015-03-11 | 深圳市第二人民医院 | Three-degree-of-freedom ankle joint exercising device |
| CN105105897A (en) * | 2015-09-21 | 2015-12-02 | 武汉大学 | Foot device used for wearable lower limb exoskeleton robot |
| CN105310862A (en) * | 2015-07-26 | 2016-02-10 | 广东铭凯医疗机器人有限公司 | Ankle joint rehabilitation training device |
| CN206342653U (en) * | 2016-08-31 | 2017-07-21 | 山东泽普医疗科技有限公司 | A kind of ankle and foot intelligent rehabilitation robot |
Family Cites Families (3)
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|---|---|---|---|---|
| US6878102B1 (en) * | 2001-08-21 | 2005-04-12 | Luis Alberto Commisso | Leg-ankle-foot exercise assembly |
| US7485074B2 (en) * | 2007-04-27 | 2009-02-03 | Zhi-Ting Chen | Ankle therapy apparatus |
| CN105080063A (en) * | 2014-05-03 | 2015-11-25 | 青岛瑞箭机电工程技术有限公司 | Ankle joint rehabilitation device |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101596139A (en) * | 2009-06-29 | 2009-12-09 | 浙江大学 | Assistant movement exoskeleton of three-degree of freedom ankle joint |
| CN102028607A (en) * | 2011-01-01 | 2011-04-27 | 燕山大学 | Ankle joint device of lower limb rehabilitation training robot |
| CN104398365A (en) * | 2014-11-21 | 2015-03-11 | 深圳市第二人民医院 | Three-degree-of-freedom ankle joint exercising device |
| CN105310862A (en) * | 2015-07-26 | 2016-02-10 | 广东铭凯医疗机器人有限公司 | Ankle joint rehabilitation training device |
| CN105105897A (en) * | 2015-09-21 | 2015-12-02 | 武汉大学 | Foot device used for wearable lower limb exoskeleton robot |
| CN206342653U (en) * | 2016-08-31 | 2017-07-21 | 山东泽普医疗科技有限公司 | A kind of ankle and foot intelligent rehabilitation robot |
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| CN106236510A (en) | 2016-12-21 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: An intelligent rehabilitation robot for foot and ankle Effective date of registration: 20220812 Granted publication date: 20190118 Pledgee: Weifang Bank Co., Ltd. Gaomi Mishui Sub-branch Pledgor: SHANDONG ZEPU MEDICAL TECHNOLOGY Co.,Ltd. Registration number: Y2022980012327 |
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Date of cancellation: 20230807 Granted publication date: 20190118 Pledgee: Weifang Bank Co.,Ltd. Gaomi Mishui Sub branch Pledgor: SHANDONG ZEPU MEDICAL TECHNOLOGY Co.,Ltd. Registration number: Y2022980012327 |
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Denomination of invention: An intelligent rehabilitation robot for the ankle region Effective date of registration: 20230810 Granted publication date: 20190118 Pledgee: Weifang Bank Co.,Ltd. Gaomi Mishui Sub branch Pledgor: SHANDONG ZEPU MEDICAL TECHNOLOGY Co.,Ltd. Registration number: Y2023980051602 |
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